bernhard/CanRtDriver
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Bernhard
2025-12-12 18:50:18 +01:00
parent fbff41de71
commit bd6e3bbfe9
6 changed files with 69 additions and 42 deletions
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90
can/can_client.c
View File

@@ -6,6 +6,19 @@
struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];
struct CAN_INTERFACE_DATA intf_data[MOTOR_COUNT];
int iBusTimeoutCounter = 0;
void IncBusTimeoutCounter(int iMotorIndex)
{
if (iBusTimeoutCounter < 2000)
{
iBusTimeoutCounter++;
if (iBusTimeoutCounter >= 2000)
{
motctrl[iMotorIndex].nSwitchState = 0;
MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
}
}
}
/// @brief Open socket of CAN interface for the given motor
/// @param iMotorIndex
/// @param ifacename
@@ -152,24 +165,27 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
/// @param iMotorIndex
void Can_TransmitMotorGear(int iMotorIndex)
{
// Transmission rate: 100ms
struct can_frame frame;
frame.can_id = 0x18F005D0;
frame.can_id |= CAN_EFF_FLAG;
frame.can_dlc = 8;
frame.data[0] = motctrl[iMotorIndex].iMotorGear;
frame.data[1] = 0xFF;
frame.data[2] = 0xFF;
frame.data[3] = 0xFF;
frame.data[4] = 0xFF;
frame.data[5] = 0xFF;
frame.data[6] = 0xFF;
frame.data[7] = 0xFF;
if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
//if (motctrl[iMotorIndex].nSwitchState > 0)
{
// Transmission rate: 100ms
struct can_frame frame;
frame.can_id = 0x18F005D0;
frame.can_id |= CAN_EFF_FLAG;
frame.can_dlc = 8;
frame.data[0] = motctrl[iMotorIndex].iMotorGear;
frame.data[1] = 0xFF;
frame.data[2] = 0xFF;
frame.data[3] = 0xFF;
frame.data[4] = 0xFF;
frame.data[5] = 0xFF;
frame.data[6] = 0xFF;
frame.data[7] = 0xFF;
if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
{
}
}
}
@@ -178,24 +194,27 @@ void Can_TransmitMotorGear(int iMotorIndex)
/// @param iMotorIndex
void Can_TransmitMotorPower(int iMotorIndex)
{
// Transmission rate: 50ms
struct can_frame frame;
frame.can_id = 0x0CF003D0;
frame.can_id |= CAN_EFF_FLAG;
frame.can_dlc = 8;
frame.data[0] = 0xFF;
frame.data[1] = motctrl[iMotorIndex].iMotorPower; // motor power 0 = 0%, 250 = 100%
frame.data[2] = 0xFF;
frame.data[3] = 0xFF;
frame.data[4] = 0xFF;
frame.data[5] = 0xFF;
frame.data[6] = 0xFF;
frame.data[7] = 0xFF;
if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
//if (motctrl[iMotorIndex].nSwitchState > 0)
{
// Transmission rate: 50ms
struct can_frame frame;
frame.can_id = 0x0CF003D0;
frame.can_id |= CAN_EFF_FLAG;
frame.can_dlc = 8;
frame.data[0] = 0xFF;
frame.data[1] = motctrl[iMotorIndex].iMotorPower; // motor power 0 = 0%, 250 = 100%
frame.data[2] = 0xFF;
frame.data[3] = 0xFF;
frame.data[4] = 0xFF;
frame.data[5] = 0xFF;
frame.data[6] = 0xFF;
frame.data[7] = 0xFF;
if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
{
}
}
}
@@ -207,6 +226,8 @@ void Can_ReadData(int iMotorIndex)
ssize_t nbytes = 0;
struct can_frame frame;
IncBusTimeoutCounter(iMotorIndex);
// wir wollen immer alle verfügbaren Frames lesen
while ((nbytes = read(intf_data[iMotorIndex].socket, &frame, sizeof(frame))) > 0)
{
@@ -239,7 +260,8 @@ void Can_ReadData(int iMotorIndex)
/// @param frame
void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame)
{
motctrl[iMotorIndex].nSwitchState = frame->data[2];
iBusTimeoutCounter = 0;
motctrl[iMotorIndex].nSwitchState = frame->data[4];
MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
}
@@ -247,6 +269,6 @@ void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame)
/// @param frame
void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame)
{
motctrl[iMotorIndex].iActualMotorPowerW = (frame->data[3] << 16) | (frame->data[4] << 8) | frame->data[5];
motctrl[iMotorIndex].iActualMotorPowerW = (frame->data[6] << 16) | (frame->data[5] << 8) | frame->data[4];
MqttClient_Publish_MotorActualPowerW(iMotorIndex, motctrl[iMotorIndex].iActualMotorPowerW);
}

4
can/can_client.h
View File

@@ -21,9 +21,9 @@
#define MOTOR_GEAR_NEUTRAL 0x7D
#define MOTOR_GEAR_FORWARD 0x7E
#define MOTOR_PWR_MIN_PCT 5
#define MOTOR_PWR_MIN_PCT 15
#define MOTOR_PWR_MAX_PCT 100
#define MOTOR_PWR_STEP 14
#define MOTOR_PWR_STEP 12
struct MOTOR_CONTROL_DATA
{